Improved heuristics for multi-agent path finding with conflict-based search: Preliminary results

Jiaoyang Li, Eli Boyarski, Ariel Felner, Hang Ma, Sven Koenig

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

Abstract

Conflict-Based Search (CBS) and its enhancements are among the strongest algorithms for Multi-Agent Path Finding. Recent work introduced an admissible heuristic to guide the high-level search of CBS. In this work, we introduce two new admissible heuristics by reasoning about the pairwise dependency between agents. Empirically, CBS with both new heuristics significantly improves the success rate over CBS with the recent heuristic and reduces the number of expanded nodes and runtime by up to a factor of 50.

Original languageEnglish
Title of host publicationProceedings of the 12th International Symposium on Combinatorial Search, SoCS 2019
EditorsPavel Surynek, William Yeoh
PublisherAAAI press
Pages182-183
Number of pages2
ISBN (Electronic)9781577358084
StatePublished - 2019
Externally publishedYes
Event12th International Symposium on Combinatorial Search, SoCS 2019 - Napa, United States
Duration: 16 Jul 201917 Jul 2019

Publication series

NameProceedings of the 12th International Symposium on Combinatorial Search, SoCS 2019

Conference

Conference12th International Symposium on Combinatorial Search, SoCS 2019
Country/TerritoryUnited States
CityNapa
Period16/07/1917/07/19

Bibliographical note

Publisher Copyright:
Copyright © 2019, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.

Funding

This paper is a short version of (Li et al. 2019). The research at the University of Southern California was supported by the National Science Foundation (NSF) under grant numbers 1409987, 1724392, 1817189 and 1837779 as well as a gift from Amazon. The research was also supported by the United States-Israel Binational Science Foundation (BSF) under grant number 2017692. ∗This paper is a short version of (Li et al. 2019). The research at the University of Southern California was supported by the National Science Foundation (NSF) under grant numbers 1409987, 1724392, 1817189 and 1837779 as well as a gift from Amazon. The research was also supported by the United States-Israel Binational Science Foundation (BSF) under grant number 2017692. Copyright ©c 2019, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.

FundersFunder number
National Science Foundation1409987, 1724392, 1837779, 1817189
Bonfils-Stanton Foundation
Bloom's Syndrome Foundation2017692
United States-Israel Binational Science Foundation

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